ROS 2 Service Reference

Reference of the ROS 2 services the robot's onboard software exposes over CycloneDDS.

Like the topics, the services need no driver node. Each robot process serves them directly over ROS 2-compatible DDS, so ros2 service list and ros2 service call work as soon as the process is running. Use the same RMW_IMPLEMENTATION=rmw_cyclonedds_cpp and network interface as for the topics (see Network & DDS).

All services use the two standard rcl_interfaces types, so no extra workspace is needed:

Type	Used by
rcl_interfaces/srv/SetParameters	set_param — set values; set_service — run actions and switch features
rcl_interfaces/srv/GetParameters	get_param — read values back

Request and response rules

• One result per parameter. SetParameters returns one results[i] per parameters[i], in the same order. A parameter fails on its own — the others in the same request still apply.
• Failure reason. A failed entry has successful: false and a short English reason (for example unknown parameter, expects number). A successful entry has an empty reason.
• Up to 64 parameters per request. A larger request is rejected as a whole: every set_* entry fails with too many parameters (max 64), and every get_param value comes back unset.
• Value type. Set value.type explicitly (1=bool, 2=integer, 3=double, 4=string). If you leave it at 0, the robot uses the one value field you filled in. A zero value (0, 0.0, empty string) cannot be detected that way, so always set the type when sending zero.
• Unknown names in get_param come back with type: 0 (not set).
• set_service takes bool values unless the name says otherwise (gait, stream_live). Entries marked true only fail with true only when sent false.

Service	Process	Available when
/rbq/motion/*	Network	Robot software is running
/rbq/vision/*	Streamer	Vision software is running
/rbq/camera/*	HAL	Vision software is running
/rbq/ptz/*	Ptz	The PTZ camera payload is installed

Motion

/rbq/motion/set_param

Field	Value
Type	rcl_interfaces/srv/SetParameters
Description	Set payload, walking, and docking parameters. All values are numbers (integer or double).

Name	Unit	Description
payload.mass	kg	Mass of the extra payload, used for CoM compensation
payload.com_x / payload.com_y / payload.com_z	m	Payload centre of mass, body frame
dynamics.max_speed	m/s	Upper limit of the walking speed
dynamics.body_height	m	Standing height offset relative to the default
dynamics.body_tilt	deg	Fixed body pitch while walking
dock.offset_x / dock.offset_y	m	Docking target offset
dock.count_req	—	Marker detection attempts before docking
dock.count_try	—	Docking failures allowed before giving up

The dynamics.* ranges are those of the app's Drive parameters. A payload.* value outside the payload limits fails with reason: validation_error. The CoM limits are |x| ≤ 0.5 m, |y| ≤ 0.3 m, |z| ≤ 0.4 m; the mass limit depends on the robot model.

Set dynamics.max_speed first

The robot applies the three dynamics.* values together. Until dynamics.max_speed has been set once, body_height and body_tilt fail with dynamics.max_speed not set yet - set it first. Send all three in one request to be safe. The stored values reset when the robot's software restarts.

payload.* sets the first custom payload slot.

/rbq/motion/get_param

Field	Value
Type	rcl_interfaces/srv/GetParameters
Description	Read back the set_param names above. Values come back as doubles (type: 3).

dynamics.max_speed is unset until it has been set through set_param.

/rbq/motion/set_service

Field	Value
Type	rcl_interfaces/srv/SetParameters
Description	Run motion actions and switch modes.

Name	Value	Description
estop	bool, true only	Emergency stop — every joint goes to high damping. The robot collapses. Same as /rbq/cmd/emergency
auto_start	bool, true only	CAN check → Find Home → Control Start. Same as /rbq/cmd/auto_start
control_mode	bool	true → HighLevel Command mode, false → joystick mode. Same as /rbq/cmd/switch_control_mode
power_ch<N>	bool	Turn PDU power port N on or off, for N from 0 to 31. Port numbers are listed under Power Control
gait	integer or string	Switch gait. Integer: a gait id from the Gait State IDs. String: one of the names below

Gait names accepted by gait (case-insensitive): sitting, standing, aiming, trotting, trot_stairs, waving, trot_running, docking, rl_trot, rl_front_walk, rl_left_walk, rl_right_walk, rl_bound, rl_pace, rl_pronk, rl_3leg_hr, rl_trot_vision, rl_trot_run, rl_silent, rl_trot_vision_slow, rl_walk, rl_walk_vision. Another id or name fails with unknown gait id / unknown gait name.

DANGER

estop cuts joint torque at once and the robot falls. Sit the robot down first when testing.

Examples:

# Walking parameters — send all three together
ros2 service call /rbq/motion/set_param rcl_interfaces/srv/SetParameters \
  "{parameters: [
    {name: 'dynamics.max_speed',   value: {type: 3, double_value: 1.0}},
    {name: 'dynamics.body_height', value: {type: 3, double_value: 0.0}},
    {name: 'dynamics.body_tilt',   value: {type: 3, double_value: 0.0}}]}"

# Read the payload mass
ros2 service call /rbq/motion/get_param rcl_interfaces/srv/GetParameters "{names: ['payload.mass']}"

# Switch to standing by name
ros2 service call /rbq/motion/set_service rcl_interfaces/srv/SetParameters \
  "{parameters: [{name: 'gait', value: {type: 4, string_value: 'standing'}}]}"

Vision

/rbq/vision/set_param · /rbq/vision/get_param

Field	Value
Type	rcl_interfaces/srv/SetParameters · rcl_interfaces/srv/GetParameters
Description	WebRTC video stream settings. Changes are kept across restarts.

Name	Value	Description
webrtc.width / webrtc.height	integer, 16–7680	Stream resolution in pixels. Setting one keeps the other
webrtc.preset	string	x264 encoder preset: ultrafast, superfast, veryfast, faster, fast, medium, slow, slower, veryslow, placebo

/rbq/vision/set_service

Field	Value
Type	rcl_interfaces/srv/SetParameters
Description	Switch vision features and the live view.

Name	Value	Description
stream_live	integer	Select the live view by id — 0 = none, 1 front, 2 rear, 3 left, 4 right, 11 stacked, 12 panorama, 13 stairs, 14 side by side, 15 dock
face_detect	bool	Face detection overlay
point2go	bool	Point-to-go overlay
guide	bool	Guide overlay
day	bool	true → day mode, false → night (IR) mode
heightmap.stairs	bool	Stairs detection in the height map
heightmap.edge	bool	Edge detection in the height map
heightmap.align	bool	Align the height map to the body yaw

TIP

stream_live: 0 (no view) is accepted but ignored while other viewers are watching the stream.

Camera

/rbq/camera/set_param · /rbq/camera/get_param

Field	Value
Type	rcl_interfaces/srv/SetParameters · rcl_interfaces/srv/GetParameters
Description	Read and write the camera configuration as <SECTION>.<key> — for example MAIN.RS_PRESET_HIGH_DENSITY.

• set_param changes only keys that already exist; a typo fails with unknown section or unknown key. Any scalar value is accepted and stored as text. The camera configuration reloads after a successful change.
• get_param returns the stored text (type: 4), or unset if the key does not exist.

/rbq/camera/set_service

Field	Value
Type	rcl_interfaces/srv/SetParameters
Description	Camera actions.

Name	Value	Description
ir_projector	bool	IR projector of every depth camera on or off
reload_config	bool, true only	Reload the camera configuration
sensor_<N>.enabled	bool	Open (true) or close (false) camera sensor N. Sensor ids are listed under Vision — Camera Sensors

PTZ

/rbq/ptz/set_param

Field	Value
Type	rcl_interfaces/srv/SetParameters
Description	PTZ position and speed. All values are numbers.

Name	Unit	Description
pan / tilt	rad	Target angle, same ranges as /rbq/cmd/ptz
zoom	×	Target zoom, same range as /rbq/cmd/ptz
pan_vel / tilt_vel	deg/s	Turn at this speed
zoom_vel	—	Zoom continuously at this rate

Unlike /rbq/cmd/ptz, each name applies on its own — setting pan leaves tilt and zoom where they are.

There is no get_param for the PTZ — read the current position from /rbq/ptz.

/rbq/ptz/set_service

Field	Value
Type	rcl_interfaces/srv/SetParameters
Description	PTZ actions. Both names act only when sent true.

Name	Description
return_center	Move pan and tilt back to centre and zoom to 1×
stop	Stop pan and tilt movement